ubuntu18.04+ROS-Melodic 配置moveit

持续更新......

转载请标明出处！！！

在已经安装ROS-melodic之后，再进行一下操作。如果你没有安装ROS，请务必先安装。安装方法可以查看官网。

link：http://wiki.ros.org/melodic/Installation/Ubuntu

1 安装moveit

去官网查找安装moveit的方式，link：http://moveit.ros.org/install/

选择的是二进制安装方式：

在安装之前先对安装好的ROS系统更新一下，使用如下指令：

$ rosdep update$ sudo apt-get update$ sudo apt-get dist-upgrade

然后安装moveit：

 $ sudo apt-get install ros-melodic-moveit

2 创建moveit的工作空间

为了区分开ROS的工作空间，新建一个ws_moveit的文件夹，作为moveit的工作空间

$ mkdir -p ws_moveit/src

然后下载教程演示的demo包到src文件夹下：

$ cd ws_moveit/srcgit clone https://github.com/ros-planning/moveit_tutorials.git  #moveit_tutorialsgit clone https://github.com/ros-planning/panda_moveit_config.git #panda_moveit_config模型配置包URDF的xml语法格式

然后按照官网的步骤是，执行一下指令自动配齐依赖包，

rosdep install -y --from-paths . --ignore-src --rosdistro kinetic

但是melodic现在没有完整的这一方面的发布包，运行会提示类似如下的错误信息：

或者：当我配好franka_description的包后，有提示下面的问题，这样一直配置下去：

~/ws_moveit/src$ rosdep install -y --from-paths . --ignore-src --rosdistro melodic
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
franka_visualization: Cannot locate rosdep definition for [libfranka]
franka_control: Cannot locate rosdep definition for [libfranka]
franka_hw: Cannot locate rosdep definition for [libfranka]
franka_example_controllers: Cannot locate rosdep definition for [libfranka]
franka_gripper: Cannot locate rosdep definition for [libfranka]

最后，总结：在下载好moveit_tutorials和模型配置包panda_moveit_config后，继续在github上下载以下几个包，解压到src文件夹下，这样手动配置以下这些melodic没法自动配置的依赖包，然后继续执行上面的命令就可以了！！

The following NEW packages will be installed:ros-melodic-nodelet ros-melodic-nodelet-topic-tools ros-melodic-pcl-ros
0 upgraded, 3 newly installed, 0 to remove and 0 not upgraded.
Need to get 0 B/4,199 kB of archives.
After this operation, 23.9 MB of additional disk space will be used.
Selecting previously unselected package ros-melodic-nodelet.
(Reading database ... 288004 files and directories currently installed.)
Preparing to unpack .../ros-melodic-nodelet_1.9.16-0bionic.20180906.224839_amd64.deb ...
Unpacking ros-melodic-nodelet (1.9.16-0bionic.20180906.224839) ...
Selecting previously unselected package ros-melodic-nodelet-topic-tools.
Preparing to unpack .../ros-melodic-nodelet-topic-tools_1.9.16-0bionic.20180906.235625_amd64.deb ...
Unpacking ros-melodic-nodelet-topic-tools (1.9.16-0bionic.20180906.235625) ...
Selecting previously unselected package ros-melodic-pcl-ros.
Preparing to unpack .../ros-melodic-pcl-ros_1.6.2-0bionic.20180907.005643_amd64.deb ...
Unpacking ros-melodic-pcl-ros (1.6.2-0bionic.20180907.005643) ...
Setting up ros-melodic-nodelet (1.9.16-0bionic.20180906.224839) ...
Setting up ros-melodic-nodelet-topic-tools (1.9.16-0bionic.20180906.235625) ...
Setting up ros-melodic-pcl-ros (1.6.2-0bionic.20180907.005643) ...
#All required rosdeps installed successfully

因为配置信息太长，就直接去最后提示成功的信息了。

最终src中是这些PKG，按照名字下载即可：

franka_ros: https://github.com/frankaemika/franka_ros

libfranka: https://github.com/frankaemika/libfranka-release/tree/release/kinetic/libfranka

moveit_visual_tools: https://github.com/PickNikRobotics/moveit_visual_tools/tree/melodic-devel

注意一定要配齐每一个包的依赖关系：然后才不会编译出错！！！如果不知道怎么配置每一个包各自的依赖包，请查看我之前的一片文章学习一下：

link: https://blog.csdn.net/SimileciWH/article/details/81332199

3 开始编译moveit的包

执行以下指令：

cd ws_moveit
###catkin config --extend /opt/ros/melodic  #不要执行官网写的这一行，下面我会解释
catkin build

###catkin config --extend /opt/ros/melodic这一行是设置catkin编译构建的环境目录，对于melodic版本如果使用了，则默认的catkin构建目录就不在是你ROS的那个工作目录，全部非二进制安装的包，或者你为ROS写的包，如果在move'it的使用find package去搜这些包，都会找不到，因为这一句讲catkin的搜寻目录设置在了安装ROS的目录。当然你可以自己添加，这里避免不必要的麻烦，我不推荐执行这一句指令！！！

3.1 在执行catkin build时提示，

1）[missing] /home/simileciwh/ws_moveit/logs
2）[missing] /home/simileciwh/ws_moveit/build )

3）[missing] /home/simileciwh/ws_moveit/devel

这是因为我们没有在工作空间创建Log，Build，Devel三个文件夹，执行这个之后会自动创建，继续执行build命令

3.2 提示：/ws_moveit/src/moveit_tutorials-kinetic-devel/doc/pick_place/src/pick_place_tutorial.cpp:94:43: error: ‘tf’ has not been declared

点开/ws_moveit/src/moveit_tutorials-kinetic-devel/doc/pick_place/src/pick_place_tutorial.cpp文件后发现确实没有加入头文件tf.h所以在文件开头，添加即可解决错误

include <tf/tf.h>

至此构建成功！！！

~/ws_moveit$ catkin build
---------------------------------------------------------------
Profile:                     default
Extending:        [explicit] /home/simileciwh/catkin_ws/devel
Workspace:                   /home/simileciwh/ws_moveit
---------------------------------------------------------------
Source Space:       [exists] /home/simileciwh/ws_moveit/src
Log Space:          [exists] /home/simileciwh/ws_moveit/logs
Build Space:        [exists] /home/simileciwh/ws_moveit/build
Devel Space:        [exists] /home/simileciwh/ws_moveit/devel
Install Space:      [unused] /home/simileciwh/ws_moveit/install
DESTDIR:            [unused] None
---------------------------------------------------------------
Devel Space Layout:          linked
Install Space Layout:        None
---------------------------------------------------------------
Additional CMake Args:       -DCMAKE_BUILD_TYPE=Release
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
Cache Job Environments:      False
---------------------------------------------------------------
Whitelisted Packages:        None
Blacklisted Packages:        None
---------------------------------------------------------------
Workspace configuration appears valid.
---------------------------------------------------------------
[build] Found '12' packages in 0.0 seconds.
[build] Package table is up to date.
Starting  >>> franka_description
Starting  >>> franka_msgs
Starting  >>> libfranka
Starting  >>> moveit_visual_tools
Finished  <<< franka_description                        [ 0.2 seconds ]
Starting  >>> panda_moveit_config
Finished  <<< moveit_visual_tools                       [ 0.3 seconds ]
Finished  <<< panda_moveit_config                       [ 0.2 seconds ]
Starting  >>> moveit_tutorials
Finished  <<< franka_msgs                               [ 0.6 seconds ]
Finished  <<< moveit_tutorials                          [ 37.9 seconds ]
Finished  <<< libfranka                                 [ 4 minutes and 3.4 seconds ]
Starting  >>> franka_gripper
Starting  >>> franka_hw
Starting  >>> franka_visualization
Finished  <<< franka_visualization                      [ 13.2 seconds ]
Finished  <<< franka_hw                                 [ 16.0 seconds ]
Finished  <<< franka_gripper                            [ 38.5 seconds ]
Starting  >>> franka_control
Finished  <<< franka_control                            [ 22.3 seconds ]
Starting  >>> franka_example_controllers
Finished  <<< franka_example_controllers                [ 38.6 seconds ]
[build] Summary: All 11 packages succeeded!
[build]   Ignored:   1 packages were skipped or are blacklisted.
[build]   Warnings:  None.
[build]   Abandoned: None.
[build]   Failed:    None.
[build] Runtime: 5 minutes and 43.1 seconds total.
[build] Note: Workspace packages have changed, please re-source setup files to use them.

4 将编译好的包加入到环境中

$ source ~/ws_moveit/devel/setup.bash

也可以直接添加到.bashrc文件中，让其在开启新的终端时自动加载环境

$ echo 'source ~/ws_moveit/devel/setup.bash' >> ~/.bashrc

5 运行效果

执行以下命令运行demo：

$ roslaunch panda_moveit_config demo.launch rviz_tutorial:=true

最终结果，如下所示：

！！！！！在此之前，需要先设置一下RVIZ，否则什么都不会显示的！！！！！！

设置如下：

（1）点击打开的空白rviz窗口左侧的add按钮，找到MotionPlanning，确定。如下图所示：

设置完成，会看到下图内容：

继续设置：

在“Global Options”标签处，子窗口“Displays”选项卡，设置 Fixed Frame为/panda_link0

然后点击“MotionPlanning”标签，找到如下显示的标签，做修改：

Robot Description---->设置成robot_description

Planning Scene Topic---->设置成/planning_scene

Planning Request---->设置成panda_arm

Planned Path---->设置成/move_group/display_planned_path

完成这些全部设置，就和我的截图一样效果了。

可以参考官网继续完后设计了：

link：https://ros-planning.github.io/moveit_tutorials/doc/quickstart_in_rviz/quickstart_in_rviz_tutorial.html

updating

ubuntu18.04+ROS-Melodic 配置moveit相关推荐

Ubuntu18.04+Ros Melodic安装Moveit
Ubuntu18.04+Ros Melodic安装Moveit框架感谢Robot_Tiger_原文https://blog.csdn.net/CH_monsy/article/details/108 ...
Ubuntu18.04+ROS Melodic+RealsenseD435i+Robotiq-2F-85+UR5真实机械臂手眼标定（眼在手外）
一.配置环境操作系统:Ubuntu 18.04 机械臂型号:UR5 :polyscope 3.14 夹爪型号:Robotiq 2F-85 深度相机:Intel RealSense - D435i 二 ...
ubuntu18.04+ros melodic环境下手柄驱动环境安装
前言: 该博客仅作个人笔记使用,因为我已经有了手柄命令与机器人电机控制的底层协议,只是缺少手柄驱动,如需更全面的配置教程,请移步其他博客环境:ubuntu 18.04 + Ros melodic 依 ...
3、速腾16线激光雷达RS-16 ----- 3D建图算法LeGO-LOAM的使用（Ubuntu18.04 + ROS Melodic）
Ubuntu18.04使用速腾16线激光雷达RS-16测试3D建图算法 LeGO-LOAM 的使用 1. 安装gtsam因子图库 2. 新建ROS工程目录文件夹,下载源码进行编译 3. 下载相关数据集 ...
双目立体视觉（2）- ZED2 SDK配置 Ubuntu18.04 + ROS melodic
ZED2 SDK 官方网站: https://www.stereolabs.com/developers/release/3.1/ 目录 1. 安装Ubuntu18.04+ROSmelodic 2. ...
Ubuntu18.04+ROS melodic 控制UR5机器人（持续更新）
目录 0 前言 1 前置准备工作 1.1 环境配置 1.1.1 使用虚拟机安装Ubuntu系统 1.1.2 ROS melodic安装 1.2 工作空间配置 1.2.1 创建工作空间 1.2.2 导入 ...
ubuntu18.04 ROS安装配置及常见问题得解决
目录 1 更改Ubuntu软件源: 2 设置软件源 3 设置密钥 4 安装过程及问题解决 4.1 安装 4.2 初始化 4.2.1 初始化过程报错 4.3 更新 4.4 安装rosinstall 4. ...
Ubuntu18.04+ROS melodic 安装调用 RealSense L515
参考: https://blog.csdn.net/Lynn_mg/article/details/103149489 https://blog.csdn.net/weixin_40650126/ar ...
Ubuntu18.04+Ros melodic安装cartographer
Ros melodic安装参考Ubuntu18.04 安装ros全过程及各种问题骨灰级解决方法_gjwjw的博客-CSDN博客本文cartographer安装主要参考cartographer环境建立 ...
ubuntu18.04 ros melodic Autoware1.14源码编译安装（完整版，全过程）
一.安装NVIDIA驱动查看推荐显卡 ubuntu-drivers devices 找到recommended推荐的版本本机是470版本 sudo apt-get install nvidia-d ...

ubuntu18.04+ROS-Melodic 配置moveit

转载请标明出处！！！

ubuntu18.04+ROS-Melodic 配置moveit相关推荐

最新文章

热门文章